#ifndef SIMPLEOPENNIVIEWER_H
#define SIMPLEOPENNIVIEWER_H

#include <QThread>
#include <QString>
#include <QTimer>

#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/time.h>
#include <pcl/io/openni_grabber.h>


class SimpleOpenNIViewer : public QThread
{
Q_OBJECT

protected:
    bool m_stopFlag;

public:
    SimpleOpenNIViewer(QObject *parent = 0);

    void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud);

    void run ();

    pcl::visualization::CloudViewer viewer;

signals:
    void Completed();
    void ObjectFoundStatus(const QString&);

public slots:
    void StopThread();

};

#endif // SIMPLEOPENNIVIEWER_H
